Model Reduction of Rigid-Flexible Manipulators with Experimental Validation

Chen, Lin; Deng, Hua

doi:10.4028/www.scientific.net/amr.655-657.1101

Cited by 3 publications

(2 citation statements)

References 10 publications

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“…Researchers transform nonlinear partial differential equations from infinite dimension to finite dimension through models. Some of the commonly used methods include the traditional Galerkin's method (TGM) [18], inertial manifold method [19], intrinsic orthogonality decomposition method [20], and central manifold method [21]. When these methods are applied to nonlinear dynamic analysis, the question of how many modes should be included in the solution will arise.…”

Section: Introductionmentioning

confidence: 99%

Approximate Inertial Manifold‐Based Model Reduction and Vibration Suppression for Rigid‐Flexible Mechanical Arms

Deng

Lin

et al. 2021

Complexity

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The dynamic characteristics of the mechanical arm with a rigid-flexible structure are very complex. The reason is that it is a complex DPS (distributed parameter system) with infinite dimension and nonlinearity in essence due to the rigid-flexible coupling. So, accurately positioning and controlling the rigid-flexible mechanical arms could be difficult. Therefore, a model reduction method of rigid-flexible mechanical arms based on the approximate inertial manifold is put forward. To repress the residual vibration of the end of the mechanical arm, a feedforward control strategy is designed. The high-dimensional solution of the vibration equation of the rigid-flexible mechanical arms is projected into the complete space composed of orthogonal decomposition modes. By using Galerkin’s method, the system is simplified and the approximate solution is obtained through the interaction between high-order and low-order modes. The truncated finite mode is also used to construct a lowest-order dynamic model on the basis of approximate inertia manifold. Given the reduced-order rigid-flexible mechanical arms dynamic model, dynamic response analysis is conducted to optimize the target position error and end residual vibration. A limited number of sinusoidal signals approximately combine the input signal, by using the particle swarm optimization algorithm to optimize the input signal, and the amplitude of the sinusoidal signal is corrected. The simulation results depict the superiority of the proposed method, which greatly suppresses the end residual vibration of the mechanical arm and realizes the accurate positioning of the end of the mechanical arm. In addition, the hardware experimental device of the rigid-flexible mechanical arms is constructed, and the experimental verification of the above method is put into effect. The simulation results of angular displacement and end vibration of the reduced model are accordant which is shown by the experimental results of the hardware platform.

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Section: Introductionmentioning

confidence: 99%

Approximate Inertial Manifold‐Based Model Reduction and Vibration Suppression for Rigid‐Flexible Mechanical Arms

Deng

Lin

et al. 2021

Complexity

Self Cite

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“…Inverse problems for hyper redundant mechanisms with different geometric and dynamic conditions include: dynamic modeling of multi-link flexible robotic manipulators [14], calibration of model parameters of flexible manipulator [15], model reduction of rigid-flexible manipulators [16], the approximation of state space equations of flexible link manipulators [17], and modeling and trajectory planning of mobile manipulators with flexible links [18,19]. For elongated hyper-redundant systems, models of one dimensional continua with local Euclidean structure (beam models) are often naturally adopted, due to their suitability in describing the features associated with the slenderness.…”

Section: Introductionmentioning

confidence: 99%

Sensing linear viscoelastic constitutive parameters with a Timoshenko beam on a multi-layer foundation: Modeling and simulation

Fattahi

Spinello

2015

Sensing and Bio-Sensing Research

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a b s t r a c tWe present a sensor model comprised of a Timoshenko beam coupled with a linear viscoelastic substrate via a distributed system of compliant elements. The system of governing equations includes the evolution of the kinematic descriptors of the Timoshenko beam and of the interface between the coupling elements and the viscoelastic substrate. This model is used to pose an inverse problem aimed at estimating the constitutive parameters of the substrate from deformation measurements of the beam. The sensing model is demonstrated by comparing its prediction with published experimentally obtained constitutive parameters identifying standard linear viscoelastic material models, showing good agreement between model estimations and experimental results.

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Control of a two-link (rigid-flexible) manipulator

Hussein

Nemah

2015

2015 3rd RSI International Conference on Robotics and Mechatronics (ICROM)

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Model Reduction of Rigid-Flexible Manipulators with Experimental Validation

Cited by 3 publications

References 10 publications

Approximate Inertial Manifold‐Based Model Reduction and Vibration Suppression for Rigid‐Flexible Mechanical Arms

Approximate Inertial Manifold‐Based Model Reduction and Vibration Suppression for Rigid‐Flexible Mechanical Arms

Sensing linear viscoelastic constitutive parameters with a Timoshenko beam on a multi-layer foundation: Modeling and simulation

Control of a two-link (rigid-flexible) manipulator

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